WO2013092369A1 - Dispositif et procédé de détermination d'une position d'un élément - Google Patents

Dispositif et procédé de détermination d'une position d'un élément Download PDF

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Publication number
WO2013092369A1
WO2013092369A1 PCT/EP2012/075368 EP2012075368W WO2013092369A1 WO 2013092369 A1 WO2013092369 A1 WO 2013092369A1 EP 2012075368 W EP2012075368 W EP 2012075368W WO 2013092369 A1 WO2013092369 A1 WO 2013092369A1
Authority
WO
WIPO (PCT)
Prior art keywords
sensor
signal
rotor
signal strength
determining
Prior art date
Application number
PCT/EP2012/075368
Other languages
German (de)
English (en)
Inventor
Thomas Baumann
Original Assignee
Continental Automotive Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Continental Automotive Gmbh filed Critical Continental Automotive Gmbh
Publication of WO2013092369A1 publication Critical patent/WO2013092369A1/fr

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
    • G01D5/2454—Encoders incorporating incremental and absolute signals
    • G01D5/2455—Encoders incorporating incremental and absolute signals with incremental and absolute tracks on the same encoder
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
    • G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
    • G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
    • G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
    • G01D5/34776—Absolute encoders with analogue or digital scales
    • G01D5/34784—Absolute encoders with analogue or digital scales with only analogue scales or both analogue and incremental scales

Definitions

  • the invention relates to an apparatus and a method for determining a position of an element.
  • a position sensor which can be used for a position determination of a rotor of a synchronous machine, usually has a fixed part with several
  • Sensor elements for example, two sensor elements, and a movable part with a sinusoidal signal track, which thus has position-dependent properties, wherein the sinusoidal signal track and two sensors are at a distance to each other.
  • the sinusoidal signal track and two sensors are at a distance to each other.
  • a sinusoidal signal trace with the two sensors a sinusoidal signal as well as a cosine signal can be obtained.
  • a known relationship between the position of an element, eg the rotor, and the measurement signal obtained can be used to determine the position of the element.
  • the relationship between the position of the element and the measurement signal can be written by means of a sinusoidal function, it is not possible to unambiguously deduce the position of the element from a measurement signal of a sensor because of the periodicity of the sine function.
  • the measurement signals of the two sensors are considered, the position of the element can be clearly deduced despite the periodicity of the relationship between the respective measurement signal of a sensor and the position of the element. It is possible to design devices for position determination for synchronous machines so that they have a
  • Synchronous machine arranged sensors The sensors scan the sinusoidal signal trace and provide two periodic sinusoidal signals which are shifted in phase with each other. From the signals obtained, a rotational speed and a direction of rotation of the synchronous machine can be determined. A position or an actual rotational angle of the rotor of the synchronous machine can be determined from the two measuring signals by means of calculation of the arctangent.
  • an apparatus for determining a position of an element having a sensor and a signal track wherein either the sensor or the signal track is on the element. Further, the sensor and the signal track are arranged such that when scanning the signal track by means of the sensor a linear signal strength curve of the measurement signal of the sensor results.
  • the sensor and signal track may be construed as two parts or two subunits of a sensor system, with one of the parts being or being attached to or attached to the element or may be part of it.
  • an element whose position is to be determined may be part of a machine, in particular an electric machine, for example an electric motor.
  • the element may be a rotor of a synchronous machine or an asynchronous machine.
  • the position-determining device may have a movable part and a fixed part.
  • a sensor of the device may belong to an immovable part of the device.
  • a signal track of the device may have a position-dependent property.
  • the position-dependent property by means of an outer shape and / or a
  • the signal track may be mounted on the element, in particular on a surface of the element.
  • the signal track on the element by means of gluing and / or screwing and / or welding and / or soldering and / or another
  • the signal track may be given by an outer shape of the element.
  • the signal track can be formed or formed by a relief structure on the surface of the element.
  • other quantities can be derived from a particular position of the element. For example, from a position of a rotor of an electric machine, a rotational speed of the rotor and / or a direction of rotation of the rotor can be determined, for example, by determining a time profile of the position.
  • a method for determining the position of an element wherein the Method a scanning of a signal track by means of a sensor, wherein the sensor and the signal track are arranged such that when scanning the signal track by the sensor results in a linear signal strength curve of the measuring signal of the sensor, and determining the position of the element based on the measurement signal of Has sensors.
  • a motor controller provided with a position determining device according to an exemplary aspect, wherein the motor controller is configured to control a motor based on the position determination of the element.
  • the element may be part of the motor to be controlled.
  • the element may be a rotor of a
  • Electric motor of an electric or hybrid vehicle is Electric motor of an electric or hybrid vehicle.
  • An engine system is provided for a vehicle having an engine and an engine controller according to an exemplary aspect that controls the engine.
  • a computer-readable storage medium in which a program is stored that, when executed by a processor, is configured to perform a method according to an exemplary aspect. According to another exemplary aspect, a
  • linear signal strength curve here means that a signal strength curve of the measuring signal of the sensor over a complete revolution of the rotor by means of a reversible function, in particular a bijective function, ie invertible function is clearly writable.
  • a signal strength curve over a complete revolution of the rotor is strictly monotonous, ie strictly monotonically increasing or strictly monotonically decreasing.
  • a linear signal strength curve during a complete revolution of the rotor, by means of a linear function, ie a first degree polynomial be described.
  • a linear signal strength curve of a measurement signal in the device may possibly allow to derive from a measured value of
  • a linear signal strength curve may be a sawtooth signal strength curve.
  • a sawtooth waveform can ramp linearly from a minimum value to a maximum value and then drop steeply from the maximum value to the minimum value.
  • Such a sawtooth-shaped signal strength profile can be reversible, in particular in a section in which the signal strength continuously increases from a minimum value to a maximum value.
  • the signal strength curve can also
  • Signal strength can be the signal strength curve
  • a detection of a rotational speed of the electric motor and in particular a detection of the direction of rotation of the electric motor is safety-relevant. If a direction of rotation of the electric motor in a vehicle with electric drive can no longer be determined unambiguously, the drive of the vehicle would have to be deactivated and the vehicle would remain stagnant.
  • a linear signal strength curve of the measuring signal of the sensor may be that in a linear signal strength curve of the measuring signal of the sensor, only one sensor is needed to determine a position of an element. Furthermore, an advantage be that a linear signal strength curve of the measurement signal of the sensor of the device allows easier calculation of a position of an element. In particular, it can be advantageous that a device can have a smaller design, because a second sensor can be dispensed with.
  • the senor is selected from the group consisting of an optical sensor, an electrical sensor, a capacitive sensor, a magnetic sensor, a Hall sensor and a distance sensor.
  • the position of the element based on the measurement signal of the sensor can be determined uniquely.
  • a signal strength profile of the measurement signal of the sensor can be described at least sectionwise by means of a bijective function, or the signal strength profile can be described at least in sections by means of a reversible function.
  • a signal strength profile of the measurement signal which can be described by means of a reversible function, allow unambiguous by means of an inverse function of the function which describes the signal strength profile to determine a position of an element from a value of the measurement signal.
  • the linear signal strength curve can be a sawtooth course with a sufficiently steep drop.
  • a section or essentially the entire course can be reversible down to the short area of the steep drop.
  • an index position may indicate a particular position such as a zero position, for example, an element.
  • Signal strength curve of a measurement signal of a sensor located at a zero position of the element can have the advantage that the zero point position of the element can also be identified if, for example, a measured value of a sensor signal drifts.
  • a cause for a drift of the measured value of the sensor signal may be, for example, a change in an ambient temperature and / or a change in a temperature of the element and / or a change in a temperature of the sensor.
  • the signal track can be set up so that it covers a complete range of movement of the element.
  • the signal strength profile can be particularly in the
  • Movement range of the element by means of a linear function be described. This can have the advantage that, in particular in a movement region of the element, the signal strength course can be described with a reversible function.
  • the device determines a position of an element which is linearly movable.
  • the element can be in a Cartesian
  • Coordinate system be linearly movable.
  • the element may be movable along a straight line or a path that is substantially straight, linear or un-curved.
  • the element may be an element which performs a translatory movement.
  • the element may be an element which performs a translatory movement.
  • the device will determine a position of a linearly movable piston.
  • the device determines a position of an element that is rotatable.
  • the element may be a rotor of a machine, in particular an electric machine.
  • the electric machine may be a synchronous machine.
  • a device can determine an angular position of a rotatable element.
  • the device can determine the angular position of a rotor of an electrical machine.
  • a measurement signal may be sufficient to be able to conclude a position of an element.
  • an electric motor may continue to operate, even if one of two sensors has failed, because a sensor may be sufficient to determine a position of a rotor.
  • a sensor may be sufficient because a linear signal strength profile of a measurement signal of the sensor can be described by means of a reversible function.
  • it can be an advantage that the two sensors of the position-determining device do not have to be 90 ° apart from each other, as is the case with position-determining devices according to the prior art. This may allow for a smaller size of the device, especially if the sensors are mounted on a stationary part of the device Device are attached.
  • a further advantage may be that it is possible to dispense with an additional hardware outlay, since a sensor for a
  • Position determination is sufficient. For example, possibly a simpler and additional
  • Signal strength curve can be determined, which possibly allows a faster determination of the rotation angle.
  • the device has a further sensor.
  • an increase in redundancy in safety-relevant applications can be achieved by means of a further sensor.
  • a further sensor can be avoided by another sensor that a vehicle with a
  • Electric motor drive remains lying, because a sensor that determines a position of a rotor of the electric motor has failed.
  • the senor of the device and the further sensor of the device are arranged on a circular segment and an angle between the sensor and the further sensor has a predetermined value.
  • the senor and the further sensor can be arranged so that in a sawtooth
  • Minimum-maximum jump of the sensor takes place in a linear region of the signal strength curve of the other sensor.
  • the angle between the sensor and the further sensor may be related to a mechanical revolution, for example
  • the angle between the sensor and the other sensor can have a value between 0 ° and 90 °.
  • the value of the angle between the sensor and the other sensor can also be greater than 90 °.
  • the angle between the sensor and the further sensor can be related to an electrical revolution of an electric motor. For example, a full mechanical revolution of a rotor of an electric motor, which has four pole pairs, consist of four electrical revolutions.
  • an angle can not be equal to 2 ⁇ / ⁇ , where n represents the number of pole pairs.
  • either a measurement signal of the sensor and / or a measurement signal of the further sensor are used for a position determination of the element.
  • a measurement signal of a sensor can be used, which is located in an area in which a
  • Signal strength curve is described by a reversible function. For example, sawtooth-shaped
  • the senor can be used, which is not in the vicinity of a range with a
  • the method comprises scanning the signal track by means of a further sensor and determining the position of the element based either on the measurement signal of the sensor and / or the measurement signal of the further sensor.
  • the element is part of the motor to be controlled and the position of the element is an actual angle of rotation of the element.
  • the engine is an electric motor.
  • FIG. 1 shows a device for position determination.
  • FIG. 2 shows a signal strength curve of a device for position determination according to the prior art.
  • FIG. 3 shows a method for determining a rotor position with a device for position determination according to the prior art.
  • FIG. 4 shows a signal strength profile of a device for position determination with a linear signal strength profile of the measurement signal.
  • FIG. 5 shows a method for determining a rotor position with a device having a linear signal strength profile of the measurement signal.
  • FIG. 1 shows a device 100 for determining a rotor position of a synchronous machine.
  • the device has a fixed sensor 101 and a stationary further sensor 102.
  • a signal track 103 is attached on a rotor 104 of the synchronous machine.
  • sinusoidal signal traces are known from the prior art.
  • the sensor 101 and the further sensor 102 are mounted in a fixed area of the synchronous machine.
  • the sensor and the other sensor are mounted at an angle of 90 ° with respect to an electrical rotation of the synchronous machine.
  • an angle of 90 ° with respect to one electrical revolution of a synchronous machine having four pole pairs corresponds to a mechanical angle of 22.5 °.
  • FIG. 2 shows an exemplary signal strength curve 200 of a device with a sinusoidal signal trace.
  • a measurement signal in volts is plotted on the y-axis 201, while a rotational angular position of the rotor 104 in degrees is plotted on the x-axis 202.
  • the line 203 shows a course of the
  • Measuring signal of the sensor and the line 204 shows a course of the measuring signal of the other sensor.
  • the synchronous machine on four pole pairs, this means that in a full mechanical revolution four electric Turns are made.
  • a synchronous machine can also have more or fewer pole pairs.
  • the number of pole pairs of the motor does not matter for the actual position detection via a mechanical rotation.
  • FIG. 3 shows a method 300 for determining a
  • the measurement signals 301 and 302 of a sensor or of a further sensor can be subjected to filtering and / or offset correction and / or amplitude correction and / or diagnosis in an optional signal processing 303. After the optional
  • Signal processing 303 one obtains a sine signal 304 based on the signal 301 and a cosine signal 305 based on the signal 302. In a subsequent one
  • a mechanical angle of rotation of rotor 104 is determined from the two signals 304 and 305.
  • the sine signal 304 is divided by the cosine signal 305 and then determined the arctangent with respect to the respective quadrant.
  • the sustaining signal 307 i. the mechanical rotation angle of a rotor may be subjected to another optional signal processing step 308.
  • a further filtering and / or a linearity correction and / or a phase correction and / or a further diagnosis can be carried out.
  • FIG. 4 shows a signal strength curve 400 of a device 100 with a linear signal strength profile of the measurement signal.
  • a measuring signal in volts is plotted on the y-axis 401, while the x-axis 402 represents a rotational angular position of a rotor of a synchronous machine.
  • the line 403 shows a course of the measuring signal of the sensor 101 and the line 404 shows a profile of the measuring signal of the other sensor 102.
  • Measurement signal curves show a sawtooth-shaped
  • FIG. 5 shows a method 500 for determining a
  • the measurement signals 501 or 502 of the sensor 101 or of the further sensor 102 can be subjected to filtering and / or offset correction and / or amplitude correction and / or diagnosis in an optional signal processing 503. After the optional
  • an angle 507 of the two angle signals 504 and 505 is selected.
  • the selected angle 507 i. the mechanical rotation angle of the rotor of the synchronous machine may be subjected to another optional signal processing step 508.
  • a further filtering and / or a linearity correction and / or a phase correction and / or a further diagnosis can be carried out.
  • a device which instead of a sinusoidal signal track has a signal track which results in a linear signal strength curve of a measurement signal may possibly be a direct signal
  • the signal strength curve of the measurement signal can be triangular, in particular
  • the linear signal strength curve can be a more direct mapping of the measurement signal to a rotation angle of the rotor
  • Synchronous machine enable thereby a calculation of an Arcustange can be omitted.
  • Further advantages may be that a position determination is already possible with a sensor, so that a position of an element can be determined without the need for a second sensor and a second measurement signal.
  • “having” does not exclude other elements or steps, and "a” or “an” does not exclude a plurality. "Further, it should be noted that features or steps described with reference to one of the above embodiments also in

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)

Abstract

Dispositif et procédé de détermination d'une position d'un élément. La présente invention concerne un dispositif (100) servant à déterminer une position d'un élément (104) à l'aide d'un capteur (101) et d'une piste de signal (103), ledit capteur ou ladite piste de signal se trouvant sur l'élément, et le capteur et la piste de signal étant configurés de manière à produire un tracé linéaire de l'intensité de signal du signal de mesure (403) du capteur lors d'un balayage de la piste de signal au moyen du capteur. L'invention concerne en outre un procédé permettant de déterminer la position de l'élément.
PCT/EP2012/075368 2011-12-22 2012-12-13 Dispositif et procédé de détermination d'une position d'un élément WO2013092369A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102011089518.3 2011-12-22
DE201110089518 DE102011089518A1 (de) 2011-12-22 2011-12-22 Vorrichtung und Verfahren zum Bestimmen einer Position eines Elements

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WO2013092369A1 true WO2013092369A1 (fr) 2013-06-27

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WO (1) WO2013092369A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018032352A1 (fr) * 2016-08-16 2018-02-22 Robert Bosch Gmbh Capteur optique et procédé d'estimation de positions de rotors dans un moteur et moteur comprenant le capteur optique

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102015211264A1 (de) * 2015-06-18 2016-12-22 Robert Bosch Gmbh Verfahren und Vorrichtung zur Verarbeitung eines Signalverlaufs

Citations (5)

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US3500055A (en) * 1965-12-02 1970-03-10 Nat Res Dev Multitrack optical grating for providing phase-displaced waveforms indicative of the position of a movable object
DE3307639A1 (de) * 1983-03-04 1984-09-06 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V., 8000 München Winkelanzeigeeinrichtung
US4718683A (en) * 1984-08-14 1988-01-12 Marelli Autronica S.P.A. Linear displacement-electrical signal transducer, particularly for automatic levelling devices for motor vehicle suspensions
US4859845A (en) * 1986-04-15 1989-08-22 Fanuc Ltd. Optical rotary encoder with sub-code patterns
EP1209448A1 (fr) * 2000-11-23 2002-05-29 Abb Research Ltd. Codeur optique angulaire ou linéaire

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DE102004033083A1 (de) * 2004-07-08 2006-01-26 Robert Bosch Gmbh Wirbelstromsensor zur kontinuierlichen Weg- oder Winkelmessung
DE102006026543B4 (de) * 2006-06-07 2010-02-04 Vogt Electronic Components Gmbh Lagegeber und zugehöriges Verfahren zum Erfassen einer Position eines Läufers einer Maschine
DE102009061032A1 (de) * 2009-05-15 2010-11-18 Tyco Electronics Belgium Ec Bvba Magnetoelektronischer Winkelsensor, insbesondere Reluktanzresolver
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Publication number Priority date Publication date Assignee Title
US3500055A (en) * 1965-12-02 1970-03-10 Nat Res Dev Multitrack optical grating for providing phase-displaced waveforms indicative of the position of a movable object
DE3307639A1 (de) * 1983-03-04 1984-09-06 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V., 8000 München Winkelanzeigeeinrichtung
US4718683A (en) * 1984-08-14 1988-01-12 Marelli Autronica S.P.A. Linear displacement-electrical signal transducer, particularly for automatic levelling devices for motor vehicle suspensions
US4859845A (en) * 1986-04-15 1989-08-22 Fanuc Ltd. Optical rotary encoder with sub-code patterns
EP1209448A1 (fr) * 2000-11-23 2002-05-29 Abb Research Ltd. Codeur optique angulaire ou linéaire

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018032352A1 (fr) * 2016-08-16 2018-02-22 Robert Bosch Gmbh Capteur optique et procédé d'estimation de positions de rotors dans un moteur et moteur comprenant le capteur optique
US10644574B2 (en) 2016-08-16 2020-05-05 Robert Bosch Gmbh Optical sensor and method for estimating positions of rotors in a motor and the motor comprising the optical sensor

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